基于总体最小二乘的捷联三轴磁力仪标定与地磁场测量误差补偿

Calibration of Strapdown Three-axis Magnetometer and Measurement Error Compensation of Geomagnetic Field Based on Total Least Squares

提出了一种磁力仪标定与地磁场补偿一体化的方法。对捷联三轴磁力仪的测量过程进行误差分析,建立包含磁力仪标定误差与地磁场测量误差的参数化模型。针对测量噪声的分布特性,采用基于总体最小二乘(TLS)算法对模型的参数进行了估计。仿真结果与实验结果均表明,与传统的基于最小二乘(LS)方法相比,基于TLS算法的参数估计精度更高,能够获得更好的补偿效果。

A method of simultaneous magnetometer calibration and measurement error compensation of geomagnetic field was proposed.A parameterized model comprising sensor calibrating error and measurement error of geomagnetic field was constructed by an error analysis through the measurement.Those parameters in the model were estimated using total least squares(TLS) based algorithm,according to the spread of measurement noise.Compared with the traditional least squares(LS) based algorithm,both simulated results and experimental results show that the TLS based algorithm achieved higher estimated precision and better compensation.